The Study And Manufacture Of Stabilization Manipulator Based On Parallel Robot Technology

Spatial imperfect-DOF parallel robots have received considerable attention of scholars from all over the world and have a broad perspective in industry production and other fields for the advantages of their simple mechanism, easy control and low cost. When the imperfect-DOF parallel robots have a rapid development in the research and application field, at the mean time, there are many backwards such as limited model type, more complex of the movement, the immature theory technology. These backwards do not make for the development of this kind of robot. A new type of mechanism and a new thinking are presented in this dissertation. Let the upper platform keep in the horizontal plane all the time. Its name is stabilization platform.The 3-DOF horizontal plane maintenance manipulator is a kind of parallel robot, which is designed in order to adapt the foul environment of the sea and road. It can resist the disturbance in spatial space. If it is equipped on the conveyance, such as ship, truck , it would make the equipments on the ship or truck have the same function as they work on the horizontal mainland. Most stabilization manipulators being used presently have two degrees of freedom. Among of them, the anti-rolling tank is one of the most popular used stabilization equipments. This parallel mechanism of the manipulator does not only have three degree of freedoms, but also be changed easily into four-DOF, it can simulate and adapt the circumstance completely on this point. So this mechanism has high worthiness of study and application.The 3-DOF horizontal plane maintenance manipulator, which is studied by the dissertation, is an integration of the machinery and the electronics. All the contents have several sorts of knowledge including mechanism, kinematics and automation. Mechanical structure has been finished in this dissertation, as well as singularity argumentation, manufacture and control system. Firstly, the status of the imperfect-DOF parallel robot development is disgusted in this dissertation, as well as the study status and the application about the stabilization platform. Secondly, the kinematics of the parallel robot is deduced based on the relation between the points in spatial in this dissertation. And the singularity of this mechanism is disgusted in this dissertation. In the end, the processing of the stabilization platform, including the mechanical and automation system, is introduced in this dissertation.This manipulator is just a sample in theory because of the limits of fund and time. The aim of the study is to detect the correctness of the theory, and to create a basis for the further study on the parallel robot.Indicating some problems of the sample machine in the end of this dissertation, the author also gives several suggestions for the further study on this parallel robot.